ChinaUWBProject.git

			@@ -15,7 +15,11 @@
			extern int temp_main(void);
			void Calibration_Time(void);
			void TagListUpdate(void);
			void TagListUpdate_person_num(void);
			void Uwb_init(void);
			void OpenUWB(void);
			void CloseUWB(void);
			int Anchor_App(void);
			extern void IO_LED_control_change(uint8_t data);
			extern void IO_control_init(void);

			@@ -31,10 +35,11 @@
			static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS];
			static int16_t rec_ancdistlist[TAG_NUM_IN_SYS];
			extern uint8_t group_id;
			static uint16_t anc_id_recv,tag_id_recv;
			static uint16_t anc_id_recv;
			static uint32_t tag_id_recv;
			static int16_t rec_antdelay;
			extern uint32_t dev_id;
			static uint16_t taglist_pos,tmp_time;
			static uint32_t taglist_pos,tmp_time;
			extern uint16_t tag_frequency;
			extern uint16_t disoffset;
			static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
			@@ -43,7 +48,8 @@
			//resp函数
			void PushAnchorDataArray(uint16_t ancid,int16_t dist,uint8_t battary);//找到自己的id信息对应位置更新自己的交互信息
			static void resp_msg_set_ts(uint8_t *ts_field, int64_t ts);//用来对应位置放入时间戳
			static uint16_t tagid_list[TAG_NUM_IN_SYS];
			static uint32_t tagid_list[TAG_NUM_IN_SYS];
			uint32_t fliter_tagid_list[TAG_NUM_IN_SYS];
			uint16_t CmpTagInList(uint16_t tagid);
			uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos);
			static uint8_t send_buffer[100];
			@@ -61,14 +67,21 @@
			uint8_t taglist_num;
			float *sts_rssi=NULL;
			extern uint8_t recev_error_num;

			uint8_t uwb_rx_flag;
			extern Operation_step UWB_work_state;
			void find_in_tag_id_authorization_list(uint32_t authorization_list_num);
			extern int16_t first_search_flag;
			typedef enum
			{
			SEARCH,
			CLOSE,
			RANGE,
			}enumwltagstate;
			/* Ranging period */
			#define RANGING_PERIOD_MS (1000)

			/* This is the delay from Frame RX POLL frame to send RESP Frame */
			#define POLL_RX_TO_RESP_TX_DLY_US 4000U //yuan670 with urt 3000success
			#define POLL_RX_TO_RESP_TX_DLY_US 550U //yuan550极限

			#define RESP_TX_TO_FINAL_RX_DLY_US 500U

			@@ -87,7 +100,7 @@
			/* RX window open in advance */
			#define RX_WIN_IN_ADVANCE_US (150)

			#define DELAY_BETWEEN_TWO_FRAME_UUS 300 //yuan1400
			#define DELAY_BETWEEN_TWO_FRAME_UUS 500 //yuan1400

			/* Field index in frame */
			#define MSG_SEQ_NUM_IDX 2
			@@ -123,7 +136,7 @@
			// .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
			// .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
			//};
			#ifndef STS_MODE
			#ifdef DW1000
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -139,7 +152,7 @@
			.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
			.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
			};
			#else
			#elif defined STS_MODE
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 5, /* Channel number. */
			@@ -155,7 +168,6 @@
			.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
			.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
			};
			#endif
			/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
			static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
			.sts_vcounter = 0x1F9A3DE4,
			@@ -166,6 +178,28 @@
			.sts_key1 = 0xF86050A8,
			.sts_key2 = 0xD1D336AA,
			.sts_key3 = 0x14148674,
			};
			#elif defined MK_MODE
			static struct mk_uwb_configure config = {
			.phy_work_mode = (uint8_t)(PHY_TX \| PHY_RX),
			.phy_cfg.ch_num = 9, /* Channel number. */
			.phy_cfg.code_index = 9, /* TX preamble code. */
			.phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */
			.phy_cfg.data_bit_rate = DATA_BR_6M8, /* data rate 6.8M. */
			.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
			.phy_cfg.sfd_sym = BPRF_NSFD2_8, /* Identifier for SFD sequence */
			.phy_cfg.ranging_bit = 1, /* ranging bit set. */
			.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
			.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
			.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
			.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
			.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
			};
			#endif

			static struct anchor_id_car{
			uint16_t anchor_new_id;
			uint16_t change_num;
			};
			/* Buffer to store received frame */

			@@ -248,6 +282,9 @@

			/* RX done process handler. */
			int8_t rssi;
			uint32_t range_timeout_us = 2000000;//yuan5000
			uint8_t flag_temp2,flag_temp1;
			uint16_t uwb_losttimer;
			static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
			{ uint8_t valid_sts=0;
			// Power off radio
			@@ -267,6 +304,8 @@
			poll_rx_num++;
			rssi = rx_report->rssi;
			receive_flag=1;
			Anchor_App();
			#ifdef STS_MODE
			valid_sts= sts_valid_check();
			if (valid_sts)
			{
			@@ -280,6 +319,7 @@

			sts_rssi = sts_rssi_output_get();
			}
			#endif
			}
			else
			{
			@@ -292,8 +332,9 @@
			temp_count= phy_timer_count_get();
			memcpy(&rx_rpt, rx_report, sizeof(struct MAC_HW_REPORT_T));
			rx_length = 0;

			// OpenUWB();//再次开启UWB接收
			}
			OpenUWB();//再次开启UWB接收
			}

			/* TX done process handler. */
			@@ -308,11 +349,13 @@
			temp_count= phy_timer_count_get();
			temp_internal=temp_count;
			resp_tx_num++;
			// OpenUWB();//再次开启UWB接收
			//LOG_INFO(TRACE_MODULE_APP, "poll_rx_num is %d,resp_tx_num is %d\r\n",poll_rx_num,resp_tx_num);
			}
			}
			uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
			static uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
			uint16_t anchordata_id[TAG_NUM_IN_SYS],anchordata_dist[TAG_NUM_IN_SYS];
			extern uint32_t tag_id_authorization_list[1024];
			static uint8_t anchordata_bat[TAG_NUM_IN_SYS];
			uint8_t anchordata_num = 0;
			static int32_t tagdist_list[TAG_NUM_IN_SYS];
			@@ -338,27 +381,61 @@
			anchordata_num++;
			}
			anchordata_id[i] = ancid;//与之通信的标签id存入当前表中
			distance=dist0.5+(int16_t)anchordata_dist[i]0.5;
			anchordata_dist[i] = dist;
			anchordata_bat[i] = battary;
			tagofflinetime[i]=0;//不断更新当前TAG对应离线时间
			dist_temp=dist;
			// if(dist>0)
			if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
			{
			distance=dist0.5+distance0.5;
			}else{
			distance=dist;
			}

			// if(temp_recdist_before_offset!=0&&distance!=0x1ffff)
			// {
			// distance=dist0.5+distance0.5;
			// }else{
			// distance=dist;
			// }

			}
			//uint16_t CmpTagInList(uint16_t tagid)
			//{ uint16_t i;
			// for(i=0; i<taglist_num; i++)
			// {
			// if(memcmp(&tagid,&anchordata_id[i],2)==0)
			// break;
			// }
			// if(i==taglist_num)
			// return taglist_num;
			// //tagofflinetime[i] = 0;
			// return i;
			//}yuan
			uint16_t CmpTagInList(uint16_t tagid)
			{ uint16_t i;
			for(i=0; i<taglist_num; i++)
			{
			if(memcmp(&tagid,&tagid_list[i],2)==0)
			break;
			}
			return i;
			}
			uint16_t ExistInTagList(uint16_t tagid)
			{ uint16_t i;
			for(i=0; i<taglist_num; i++)
			{
			if(memcmp(&tagid,&tagid_list[i],2)==0)
			return 1;
			}
			return 0;
			}

			uint16_t CmpCarInExistList(uint16_t tagid)
			{ uint16_t i;
			for(i=0; i<anchordata_num; i++)
			{
			if(memcmp(&tagid,&anchordata_id[i],2)==0)
			break;
			}
			if(i==taglist_num)
			return taglist_num;
			if(i==anchordata_num)
			return anchordata_num;
			//tagofflinetime[i] = 0;
			return i;
			}
			@@ -373,28 +450,93 @@
			ts2 >>= 8;
			}
			}

			void TagListUpdate(void)
			uint8_t tt5=0;
			//void TagListUpdate(void)
			//{
			// uint8_t i,j=0;
			// for(i=0; i<anchordata_num; i++)
			// {
			// if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			// {
			// anchordata_id[j]=anchordata_id[i];
			// tagofflinetime[j++]=tagofflinetime[i];
			// }
			// }
			// anchordata_num=j;
			//}
			uint8_t find_flag;
			uint16_t bind_distance,button_determinate_distance,change_by_frequency_distance;
			uint8_t tag_near_frequency;
			extern uint32_t tag_id_authorization_list_num;
			void sort_tag_lists(void)
			{
			uint8_t i,j=0;
			for(i=0; i<anchordata_num; i++)
			{
			if(tagofflinetime[i]++<QUIT_SLOT_TIME)
			{
			anchordata_id[j]=anchordata_id[i];
			tagofflinetime[j++]=tagofflinetime[i];
			if (taglist_num <= 1) {
			return; // 无需排序
			}
			// 使用冒泡排序（稳定排序，实现简单）
			for (size_t i = 0; i < taglist_num - 1; i++) {
			for (size_t j = 0; j < taglist_num - i - 1; j++) {
			if (tagdist_list[j] > tagdist_list[j + 1]) {
			// 交换距离值
			uint16_t temp_dist = tagdist_list[j];
			tagdist_list[j] = tagdist_list[j + 1];
			tagdist_list[j + 1] = temp_dist;

			// 同步交换标签ID
			uint32_t temp_id = tagid_list[j];
			tagid_list[j] = tagid_list[j + 1];
			tagid_list[j + 1] = temp_id;
			}
			}
			}
			anchordata_num=j;
			}
			uint8_t flag_temp2,flag_temp1;
			uint8_t tag_authorized_List[TAG_NUM_IN_SYS];
			void change_button_state(void)
			{
			if(tag_authorized_List[0]==1&&taglist_num>=1)//只有在有效判定范围内有授权的标签才会开启，否则都是关闭
			{
			if(tagdist_list[0]<button_determinate_distance)
			{
			gpio_pin_set(BUTTON_PIN);
			}else{
			gpio_pin_clr(BUTTON_PIN);
			}
			}else{
			gpio_pin_clr(BUTTON_PIN);
			}
			}
			void TagListUpdate(void)
			{
			uint16_t i,j=0,k=0;
			for(i=0; i<taglist_num; i++)
			{
			if(tagofflinetime[i]++<TAG_KEEPTIMES)
			{
			tagid_list[j]=tagid_list[i];
			tagdist_list[j] = tagdist_list[i];
			anchordata_bat[j]=anchordata_bat[i];//电量随之更新
			tagofflinetime[j++]=tagofflinetime[i];
			}
			}
			taglist_num=j;
			sort_tag_lists();//增加距离小的排到前面逻辑
			if(find_flag)
			{
			//if(tt5)
			find_in_tag_id_authorization_list(tag_id_authorization_list_num);
			find_flag=0;
			}
			change_button_state();
			}

			uint8_t position;
			uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos)//根据自己是否为新基站定制消息去发送，根据是否抢占判断
			{
			temp_count2=poll_rx_en_start_u32;

			memcpy(&send_buffer[GROUP_ID_IDX],&group_id,1);//组id
			memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);//自身id
			memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);//接受者id
			memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,4);//接受者id
			send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;

			// if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式自己为新基站
			@@ -409,29 +551,56 @@
			// resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(20rec_nearbase_num+POLL_RX_TO_RESP_TX_DLY_US+ancrec_nearbaseposDELAY_BETWEEN_TWO_FRAME_UUS);//后面的需要根据已有基站数量进行更改，如果是抢占自己最后一个回复，要有底数
			// //这里应该有问题问一下钟工
			// }//此处设置绝对时间将poll u32改为phy_timer_count_get()
			resp_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US);
			position=ancrec_nearbasepos;
			resp_tx_en_start_u32 = poll_rx_en_start_u32+US_TO_PHY_TIMER_COUNT(POLL_RX_TO_RESP_TX_DLY_US)+ancrec_nearbasepos*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);//加入帧间隔
			resp_tx_ts_i64 = ranging_tx_time_correct(resp_tx_en_start_u32 + phy_shr_duration());//修正时间戳
			/* Write all timestamps in the final message. See NOTE 8 below. */
			resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts_i64);
			resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts_i64);//此处时间戳int64直接转换为uint64不知道会不会有错误
			memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&disoffset,2);//差个修正offset,修正有符号但是这个com表为无符号的,传过去直接赋给Int16_t相当于还原了
			if(tagdist_list[ancrec_nearbasepos]<=change_by_frequency_distance&&tag_authorized_List[ancrec_nearbasepos]==1)//授权才改变频率否则不改变
			{
			send_buffer[RESP_MSG_TAG_FREQUENCY]=tag_near_frequency;//新加入改变标签测距hz
			}
			else{
			send_buffer[RESP_MSG_TAG_FREQUENCY]=1;//新加入改变标签测距hz
			}
			temp_resp_i64=resp_tx_ts_i64;
			temp_count3= phy_timer_count_get();
			flag_temp2=uwb_tx(send_buffer, 40,1 ,resp_tx_en_start_u32);//立即发送测试size大小
			temp_count1=phy_timer_count_get();
			while(mac_is_busy());
			gpio_pin_clr(SCL_PIN);
			tagofflinetime[taglist_pos] = 0;//更新标签通信
			// temp_count1=phy_timer_count_get();
			//while(mac_is_busy());
			//gpio_pin_clr(SCL_PIN);
			}
			uint32_t range_timeout_us = 5000;//yuan5000

			uint16_t uwb_searchcount;
			uint8_t flag_recsuccess;

			uint32_t start_receive_count_calibration;
			uint32_t current_count_calibration;
			uint32_t get_in_num,get_out_num;
			struct anchor_id_car anchor_id_in_car[TAG_NUM_IN_SYS],anchor_id_out_car[TAG_NUM_IN_SYS];
			int16_t change_count[TAG_NUM_IN_SYS];
			uint16_t anchor_id_in[TAG_NUM_IN_SYS],anchor_id_out[TAG_NUM_IN_SYS];
			uint8_t secondtask_search_count,secondtask_search_flag;
			extern uint8_t g_start_send_flag,search_open_flag = 1,link_success_flag,flag_secondtask;
			enumwltagstate wltag_state=RANGE;
			uint32_t wltag_statetimer,wltag_uwbtimer;
			uint32_t uwbtasktimer=0,uwbtagsendtimer=0;

			uint16_t CmpCarInTable(uint16_t tagid)
			{ uint16_t i;
			for(i=0; i<get_in_num; i++)
			{
			if(memcmp(&tagid,&anchor_id_in[i],2)==0)
			break;
			}
			if(i==get_in_num)
			return get_in_num;
			//tagofflinetime[i] = 0;
			return i;
			}
			void Calibration_Time(void)
			{
			current_count_calibration=phy_timer_count_get();
			@@ -439,7 +608,7 @@
			&&!((end_receive_count-current_count_calibration<=MS_TO_PHY_TIMER_COUNT(200))\|\|(end_receive_count+(UINT32_MAX-current_count_calibration)<=MS_TO_PHY_TIMER_COUNT(200))))
			{
			start_receive_count_calibration=current_count_calibration;//更新开始时间
			// MotorPoll();


			if(secondtask_search_count++%2==0)
			{
			@@ -462,68 +631,273 @@
			}
			}
			uint16_t g_com_receive_id;
			int Uwb_One_Shot(void)
			void CloseUWB(void)
			{

			uwb_rx_force_off(1);
			uwb_rx_flag=0;
			//LOG_INFO(TRACE_MODULE_APP,"关闭uwb_rx\r\n");
			}
			void check_if_in_or_out(uint16_t receive_success_id,int32_t distance_from_tag,float rssi_ant0,float rssi_ant2)
			void OpenUWB(void)
			{
			uint8_t i;
			if(rssi_ant0>rssi_ant2&&distance_from_tag<200)
			{
			for(i=0; i<get_in_num; i++)
			{
			if(anchor_id_in[i] == receive_success_id)//查询标签是否在自己已通讯列表中
			{
			flag_temp1=uwb_rx(0, 0,range_timeout_us);//提交接收请求
			uwb_rx_flag=1;
			//LOG_INFO(TRACE_MODULE_APP,"打开uwb_rx\r\n");
			}
			void UWBOneSecondTask(void)
			{
			TagListUpdate();//更新标签数
			uwb_losttimer++;
			if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			uwb_losttimer=g_com_map[UWB_RNAGE_TIME]+1;//防止溢出
			}
			void UWBIdleTask(void)
			{

			break;
			}
			}
			if(i==get_in_num)
			{
			if(get_in_num<TAG_NUM_IN_SYS-1)
			get_in_num++;
			for(i=0;i<get_out_num;i++)//消除车外id
			{
			if(receive_success_id==anchor_id_out[i])
			{
			for(i=i+1;i<get_out_num;i++)
			{
			anchor_id_out[i-1]=anchor_id_out[i];//缺个数量--
			}
			get_out_num--;
			}
			}
			anchor_id_in[get_in_num-1]=receive_success_id;
			}
			}else if(rssi_ant0<rssi_ant2&&distance_from_tag<200)
			if(HIDO_TimerGetTick()-uwbtasktimer >=1)
			{
			for(i=0; i<get_out_num; i++)
			{
			if(anchor_id_out[i] == receive_success_id)//查询标签是否在自己已通讯列表中
			{

			break;
			}
			}
			if(i==get_out_num)
			{
			if(get_out_num<TAG_NUM_IN_SYS-1)
			get_out_num++;
			for(i=0;i<get_in_num;i++)//消除车内id
			{
			if(receive_success_id==anchor_id_in[i])
			{
			for(i=i+1;i<get_in_num;i++)
			{
			anchor_id_in[i-1]=anchor_id_in[i];//缺个数量--
			}
			get_in_num--;
			}
			}
			anchor_id_out[get_out_num-1]=receive_success_id;
			}
			uwbtasktimer = HIDO_TimerGetTick();
			UWBOneSecondTask();
			}
			}
			int uwb_app_poll(void)
			{
			// switch(wltag_state)
			// {
			// case RANGE:
			// if(HIDO_TimerGetTick()-wltag_uwbtimer>2&&uwb_rx_flag==0)
			// {
			// wltag_uwbtimer = HIDO_TimerGetTick();
			// OpenUWB();
			// }
			// else if(HIDO_TimerGetTick()-wltag_uwbtimer>1&&uwb_rx_flag==1)
			// {
			// wltag_uwbtimer = HIDO_TimerGetTick();
			// CloseUWB();
			// }
			// if(uwb_losttimer>g_com_map[UWB_RNAGE_TIME])
			// {
			// wltag_statetimer = HIDO_TimerGetTick();
			// if(uwb_rx_flag==0)//若要切换到搜索模式时没有开启则开启UWB
			// {
			// OpenUWB();
			// }
			// wltag_state = SEARCH;
			// }
			// break;
			// case SEARCH:
			// if(HIDO_TimerGetTick()-wltag_statetimer>1)
			// {
			// wltag_statetimer = HIDO_TimerGetTick();
			// wltag_state = CLOSE;
			// CloseUWB();
			// }
			// break;
			// case CLOSE:
			// if(HIDO_TimerGetTick()-wltag_statetimer>g_com_map[UWB_WAIT_TIME])
			// {
			// wltag_statetimer = HIDO_TimerGetTick();
			// wltag_state = SEARCH;
			// OpenUWB();
			// }
			// break;
			// }
			UWBIdleTask();
			}

			extern uint8_t bind_flag;
			void bubble_sort(uint32_t *arr, uint32_t n)
			{
			if (n <= 1) return; // 无需排序

			uint32_t i, j;
			uint8_t swapped; // 标记是否发生交换

			for (i = 0; i < n - 1; i++) {
			swapped = 0; // 重置交换标记

			// 每轮将最大元素"冒泡"到末尾
			for (j = 0; j < n - i - 1; j++) {
			if (arr[j] > arr[j + 1]) {
			// 交换相邻元素
			uint32_t temp = arr[j];
			arr[j] = arr[j + 1];
			arr[j + 1] = temp;
			swapped = 1; // 标记发生了交换
			}
			}

			// 优化：如果本轮未发生交换，说明数组已排序
			if (!swapped) break;
			}
			}
			uint16_t tag_authorization_list_num_temp;
			void fliter_tag_id_authorization_list(uint16_t*tag_authorization_list_real_num)
			{
			uint32_t filtered_count = 0;

			// 遍历所有标签，将距离小于阈值的ID存入结果数组
			for (uint32_t i = 0; i < taglist_num; i++) {
			if (tagdist_list[i] < bind_distance&&tagid_list[i]!=0) {
			fliter_tagid_list[filtered_count] = tagid_list[i];
			filtered_count++;
			}
			//fliter_tagid_list
			}
			*tag_authorization_list_real_num=filtered_count;
			}
			void copy_taglist_to_flash(void)
			{
			fliter_tag_id_authorization_list(&tag_authorization_list_num_temp);//过滤调id为0的标签和不满足绑定距离的标签
			memset(tag_id_authorization_list,0,sizeof(tag_id_authorization_list));//清空上一次数组防止重叠
			memcpy(&tag_id_authorization_list,&fliter_tagid_list,tag_authorization_list_num_temp*4);//复制满足条件数组
			bubble_sort(&tag_id_authorization_list,tag_authorization_list_num_temp);//进行排序后存入,为二分法做基础
			save_taglist_map_to_flash();//存入flash
			}

			void find_in_tag_id_authorization_list(uint32_t authorization_list_num)
			{
			// for (uint32_t i = 0; i < taglist_num; i++) {
			// uint32_t target = tagid_list[i];
			// uint32_t left = 0;
			// uint32_t right = authorization_list_num - 1; // 授权列表的最大索引
			// uint8_t found = 0;
			//
			// // 二分查找循环
			// while (left <= right) {
			// uint32_t mid = left + ((right - left) >> 1); // 防止整数溢出
			// uint32_t mid_val = tag_id_authorization_list[mid];
			//
			// if (mid_val == target) {
			// found = 1;
			// break; // 找到目标值，立即退出循环
			// } else if (mid_val < target) {
			// left = mid + 1;
			// } else {
			// right = mid - 1;
			// }
			// LOG_INFO(TRACE_MODULE_APP, "DEBUG: i=%u, left=%d, right=%d, found=%u\n", i, left, right, found);
			// }
			////
			//// // 存储查找结果
			//// tag_authorized_List[i] = found;
			// }
			{
			// 如果授权列表为空，直接全部标记为0
			if (authorization_list_num == 0) {
			for (int i = 0; i < taglist_num; i++) {
			tag_authorized_List[i] = 0;
			}
			return;
			}

			// 遍历需要查找的每个ID
			for (int i = 0; i < taglist_num; i++) {
			int key = tagid_list[i];
			int low = 0;
			int high = authorization_list_num - 1;
			int found = 0; // 标记是否找到

			// 在授权列表中执行二分查找
			while (low <= high) {
			int mid = low + (high - low) / 2; // 防止整数溢出

			if (tag_id_authorization_list[mid] == key) {
			found = 1; // 找到匹配项
			break;
			} else if (tag_id_authorization_list[mid] < key) {
			low = mid + 1; // 在右半部分继续查找
			} else {
			high = mid - 1; // 在左半部分继续查找
			}
			}

			// 根据查找结果设置输出列表
			tag_authorized_List[i] = found ? 1 : 0;
			}
			}
			}

			int Anchor_App(void)
			{
			uint8_t i;
			uint16_t tempid;
			if(group_id==rx_buf[GROUP_ID_IDX]&&rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//判断是否是和自己是同一组通讯的且为poll包
			{
			flag_recsuccess = 1;
			wltag_state=RANGE;//成功后从search切换为range
			memcpy(&g_com_receive_id,&rx_buf[TAG_ID_IDX],2);
			//temp_count2=phy_timer_count_get();
			uwb_losttimer=0;//成功测距清0 lost时间
			frame_seq_nb2 = rx_buf[SEQUENCE_IDX];//获取包序
			battary = rx_buf[BATTARY_IDX];
			rec_nearbase_num=rx_buf[FZ_NEARBASENUM_INDEX]; //标签传过来的他与基站交互的基站id数目
			memcpy(&tag_id_recv,&rx_buf[TAG_ID_IDX],4);
			memcpy(rec_ancidlist,&rx_buf[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
			memcpy(rec_ancdistlist,&rx_buf[FZ_NEARBASEID_INDEX+2rec_nearbase_num],2rec_nearbase_num);
			memcpy(&rec_antdelay,&rx_buf[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
			// for(i=0; i<rec_nearbase_num; i++)
			// {
			// if(rec_ancidlist[i] == dev_id)
			// { temp_recdist_before_offset=rec_ancdistlist[i];
			// rec_ancdistlist[i]+=(int16_t)g_com_map[DIST_OFFSET];
			// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
			// }
			// }
			// for(i=0; i<rec_nearbase_num; i++)
			// {
			// memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
			// if(tempid==dev_id)//也是比id如果有就更新没有就抢占
			// {
			// seize_anchor=0; //非抢占。已存在列表中
			// Anchor_RecNearPoll(i);
			// break;
			// }
			// }

			// if(i==rec_nearbase_num)
			// {
			// seize_anchor=1; //抢占anchor
			// Anchor_RecNearPoll(i);
			// }

			taglist_pos=CmpTagInList(tag_id_recv);
			if(taglist_num>=ANC_MAX_NUM)
			return 0;
			for(i=0; i<rec_nearbase_num; i++)
			{
			memcpy(&tempid,&rx_buf[FZ_NEARBASEID_INDEX+i*2],2);
			if(tempid==dev_id)
			{

			Anchor_RecNearPoll(i);
			tagdist_list[taglist_pos]=rec_ancdistlist[i];
			anchordata_bat[taglist_pos] = battary;//保存该基站电量
			// if(tag_authorized_List[taglist_pos]==1)
			// {
			// if(tagdist_list[taglist_pos]<button_determinate_distance)
			// {
			// gpio_pin_set(BUTTON_PIN);
			// }else{
			// gpio_pin_clr(BUTTON_PIN);
			// }
			// }
			if(taglist_pos==taglist_num)// taglist_pos==taglist_num 说明这个基站不在当前列表中
			{ //tempid==dev_id 说明基站下发测距报文有这个标签的信息
			taglist_num++; //满足上述两种情况才会添加基站ID进入列表中，否则会出现标签不在基站列表中，标签也不响应的情况
			tagid_list[taglist_pos] = tag_id_recv;//新增基站
			find_flag=1;
			}
			break;
			}
			}

			if((i==rec_nearbase_num&&taglist_pos==taglist_num)\|\|(rec_nearbase_num==0&&!ExistInTagList(tag_id_recv)))//当基站不在标签列表中，标签也不在基站列表中时，随机找个时间片回复基站。
			{
			Anchor_RecNearPoll(rec_nearbase_num);
			}
			}


			}
			int UwbRange(void)
			{
			@@ -531,7 +905,7 @@
			uint16_t tempid;
			// The following peripherals will be initialized in the uwb_open function
			// phy/mac/aes/lsp/phy timers initialized
			uwb_open();
			//uwb_open();

			// // Set calibration parameters
			// uwb_calibration_params_set(config.phy_cfg.ch_num);
			@@ -551,7 +925,7 @@
			// ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

			// Register rx interrupt callback function
			mac_register_process_handler(tx_int_callback, rx_int_callback);
			//mac_register_process_handler(tx_int_callback, rx_int_callback);

			receive_flag = 0;
			flag_recsuccess = 0;
			@@ -626,14 +1000,15 @@
			}
			recev_error_num=0;
			//range_timeout_us=5000;//恢复为5000进入range后
			LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 信号强度ANT0: %f,信号强度ANT2: %f\r\n",g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
			check_if_in_or_out(g_com_receive_id,distance,sts_rssi[0],sts_rssi[2]);
			LOG_INFO(TRACE_MODULE_APP,"车内：%d 人,车外: %d 人\r\n",get_in_num,get_out_num);
			//LOG_INFO(TRACE_MODULE_APP,"标签ID：%X,距离: %d 包序%d\r\n",g_com_receive_id,distance,frame_seq_nb2);


			gpio_pin_clr(SCL_PIN);
			//break;去掉break变为一对多
			}
			}
			sts_lsp_store();

			break;
			//失败或者接受被高发射机打断都会再次开启接收
			//flag_temp1=uwb_rx(0, 0, range_timeout_us);
			@@ -641,6 +1016,7 @@
			delay_us(1);
			sts_lsp_store_stop();
			uwb_rx_force_off(1);

			// if(!flag_recsuccess)
			// {
			// //sleep_timer_start(__MS_TO_32K_CNT(UWB_DELAY_TIME_US-3));//测试
			@@ -660,36 +1036,50 @@
			}
			void Uwb_init(void)
			{
			uwb_open();
			#ifdef STS_MODE
			// Set STS key and IV
			phy_sts_key_configure(&sts_iv_key);

			// which RX ports will be used for AoA/PDoA
			phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);

			#endif
			// Set calibration parameters
			uwb_calibration_params_set(config.phy_cfg.ch_num);

			#ifndef STS_MODE
			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config = {
			.thres_fap_detect = 40,
			.nth_scale_factor = 4,
			.ranging_performance_mode = 0,
			.skip_weakest_port_en = 0,
			};
			#else
			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config = {
			.thres_fap_detect = 40,
			.nth_scale_factor = 4,
			.ranging_performance_mode = 3,
			.skip_weakest_port_en = 0,
			};
			#endif
			phy_adv_params_configure(&adv_config);

			// uwb configure
			uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);

			#if (defined STS_MODE) \|\| (defined MK_MODE)
			ranging_lib_init();
			#endif
			ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

			#ifdef STS_MODE
			aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
			aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) \| SRAM_BASE));

			aoa_param_config();

			phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
			#endif
			mac_register_process_handler(tx_int_callback, rx_int_callback);//初始化回调
			}
			//主函数绑定接受逻辑
			int UwbSearch(void)
			@@ -699,36 +1089,51 @@
			// The following peripherals will be initialized in the uwb_open function
			// phy/mac/aes/lsp/phy timers initialized
			uwb_open();
			#ifdef STS_MODE
			// Set STS key and IV
			phy_sts_key_configure(&sts_iv_key);

			// which RX ports will be used for AoA/PDoA
			phy_rx_ant_mode_set(RX_ANT_PORTS_COMBINATION);

			#endif
			// Set calibration parameters
			uwb_calibration_params_set(config.phy_cfg.ch_num);

			#ifndef STS_MODE
			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config = {
			.thres_fap_detect = 40,
			.nth_scale_factor = 4,
			.ranging_performance_mode = 0,
			.skip_weakest_port_en = 0,
			};
			#else
			// set advanced parameters
			struct PHY_ADV_CONFIG_T adv_config = {
			.thres_fap_detect = 40,
			.nth_scale_factor = 4,
			.ranging_performance_mode = 3,
			.skip_weakest_port_en = 0,
			};
			#endif
			phy_adv_params_configure(&adv_config);

			// uwb configure
			uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);

			#ifdef STS_MODE
			ranging_lib_init();
			#endif
			ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);

			#ifdef STS_MODE
			aoa_aux_info_set(AOA_AUX_ANT_IQ_RSSI_PDOA_AOA_FOM);
			aoa_steering_vector_set((const float *)((uint32_t)((config.phy_cfg.ch_num == 9) ? svec_ch9_ptr : svec_ch5_ptr) \| SRAM_BASE));

			aoa_param_config();

			phy_rx_sts_switch_mode_set(config.phy_cfg.sts_pkt_cfg, STS_SWITCH_EVERY_4SYM, 0, 0);
			#endif
			// Register rx interrupt callback function
			mac_register_process_handler(tx_int_callback, rx_int_callback);